Unable to save map

[Toinouu]

Hi, I can construct a map but when I enter the command to save it it kept in this state :

user@gr-p247-humble-container:~$ ros2 service call /save_pcd direct_lidar_inertial_odometry/srv/SavePCD
requester: making request: direct_lidar_inertial_odometry.srv.SavePCD_Request(leaf_size=0.0, save_path='')

Do you have any idea why ?

[InguChoi]

You can save the map with this command ros2 service call /save_pcd direct_lidar_inertial_odometry/srv/SavePCD "{'leaf_size': 0.2, 'save_path': '~/map'}".

If you can not save the map, can you replace the relative path with the absolute path?

[Dimethylebutane]

Hello,

On ROS2 Jazzy, I have the same issue:

$ ros2 service call /save_pcd direct_lidar_inertial_odometry/srv/SavePCD "{'leaf_size': 0.2, 'save_path': '~/map'}"
requester: making request: direct_lidar_inertial_odometry.srv.SavePCD_Request(leaf_size=0.2, save_path='~/map')

The call hangs and nothing happens; I have to interrupt it manually. On the second attempt, I get:
waiting for service to become available...

I’m not a ROS expert, so maybe I’m missing something — is there an option in the config file to enable saving the map?

Steps to reproduce:

Launch DLIO:
$ ros2 launch direct_lidar_inertial_odometry dlio.launch.py rviz:=false pointcloud_topic:=/livox/lidar imu_topic:=/livox/imu

Launch the Livox driver:
$ ros2 launch livox_ros_driver2 msg_MID360_launch.py

Verify that DLIO odometry is working.
Call the /save_pcd service as shown above.
Observe that the service call blocks.

Also, I’m using ROS2 Jazzy, not Humble—could this be version-specific?

[alitekes1]

@Dimethylebutane did you get any pointcloud data that shown at rviz? i am using mid360 lidar but i couldn't get any point cloud data. Can you help me?

[PranavShevkar]

@alitekes1 You are likely not moving your robot / laserscanner. You need to move the scanner so that the registered pointcloud is visualized in RViz.

[Andy-Leo10]

Hello everyone I have the same problem, I can't save the generated map

I obtained this after running DLIO

But when saving the map nothing happens and the map is not saved on any path. Also the ros2 service seems to be not working correctly.

sinso@X507UBR:~/ros2_ws$ ros2 service call /save_pcd direct_lidar_inertial_odometry/srv/SavePCD "leaf_size: 0.0
save_path: '/home/sinso/ros2_ws/src/direct_lidar_inertial_odometry/map/x.pcd'" 
waiting for service to become available...
^C^C
sinso@X507UBR:~/ros2_ws$ ^C

I checked the service:

sinso@X507UBR:~/ros2_ws$ ros2 service list | grep pcd
/save_pcd
sinso@X507UBR:~/ros2_ws$ ros2 service type /save_pcd
direct_lidar_inertial_odometry/srv/SavePCD

I hope someone can help me, this is an amazing work